Experimental verification of underwater positioning system in aquaculture
Chapter, Peer reviewed
Accepted version
Permanent lenke
http://hdl.handle.net/11250/2469326Utgivelsesdato
2017Metadata
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- Institutt for marin teknikk [3472]
- Publikasjoner fra CRIStin - NTNU [38576]
Originalversjon
10.1109/OCEANSE.2017.8084947Sammendrag
This paper presents a filter for positioning of an underwater vehicle in exposed aquaculture environments. The input to the filter is time of flight measurements from acoustic transponders mounted at near the sea surface. The transponders are exposed to oscillations from wave disturbances. This has an impact on the accuracy of the positioning system. An extended Kalman filter (EKF) solution has been proposed with a wave motion compensation. Experimental results show that the proposed filter compensates for the disturbances and thereby increase performance of the position estimate.